1.7 Cylindrical and Spherical Coordinates（1.7圆柱和球坐标）.pdf

56 CHAPTER 1. VECTORS AND THE GEOMETRY OF SPACE 1.7 Cylindrical and Spherical Coordinates 1.7.1 Review: Polar Coordinates The polar coordinate system is a two-dimensional coordinate system in which the position of each point on the plane is determined by an angle and a distance. The distance is usually denoted r and the angle is usually denoted . Thus, in this coordinate system, the position of a point will be given by the ordered pair (r;). These are called the polar coordinates These two quantities r and , are determined as follows. First, we need some reference points. You may recall that in the Cartesian coordinate system, everything was measured with respect to the coordinate axes. In the polar coordinate system, everything is measured with respect a Öxed point called the pole and an axis called the polar axis. The is the equivalent of the origin in the Cartesian coordinate system. The polar axis corresponds to the positive x-axis. Given a point P in the plane, we draw a line from the pole to P. The distance from the pole to P is r, the angle, measured counterclockwise, by which the polar axis has to be rotated in order to go through P is . The polar coordinates of P are then (r;). Figure 1.7.1 shows two points and their representation in the polar coordinate system. Remark 79 Let us make several remarks. 1. Recall that a positive value of means that we are moving counterclock- wise. But can also be negative. A negative value of means that the polar axis is rotated clockwise to intersect with P. Thus, the same point can have several polar coordinates. For example, (2;90) and (2;270) represent the same point. 2. Recall that given an angle , the angles + 2, + 4, :::, + 2k where k = 0;1;2;3;: